Comparison of Kalman Filters for Inertial Integrated Navigation

被引：21

作者：

Zhang, Mengde ^{[1
]}

Li, Kailong ^{[1
]}

Hu, Baiqing ^{[1
]}

Meng, Chunjian ^{[1
]}

机构：

[1] Naval Univ Engn, Dept Nav Engn, Wuhan 430000, Hubei, Peoples R China

来源：

SENSORS | 2019年 / 19卷 / 06期

基金：

中国国家自然科学基金;

关键词：

integrated navigation; attitude; multiplicative quaternion; extended kalman filter; unscented kalman filter;

D O I：

10.3390/s19061426

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

The current research on integrated navigation is mainly focused on filtering or integrated navigation equipment. Studies systematically comparing and analyzing how to choose appropriate integrated filtering methods under different circumstances are lacking. This paper focuses on integrated navigation filters that are used by different filters and attitude parameters for inertial integrated navigation. We researched integrated navigation filters, established algorithms, and examined the relative merits for practical integrated navigation. Some suggestions for the use of filtering algorithms are provided. We completed simulations and car-mounted experiments for low-cost strapdown inertial navigation system (SINS) to assess the performance of the integrated navigation filtering algorithms.

引用

页数：26

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